The high-performance, low-power Atmel AVR RISC-based CMOS 8-bit microcontroller combines 128KB ISP flash memory with read-while-write capabilities, 4KB EEPROM, 4KB SRAM, 53 general purpose I/O lines, 32 general purpose working registers, CAN controller (V2.0A/V2.0B compliant), real time counter, four flexible timer/counters with compare modes and PWM, 2 USARTs, byte oriented two-wire serial interface, an 8-channel/10-bit A/D converter with optional differential input stage with programmable gain, programmable watchdog timer with internal oscillator, SPI serial port, JTAG (IEEE 1149.1 compliant) interface for on-chip debugging and programming, and five software selectable power saving modes. By executing powerful instructions in a single clock cycle, the device achieves throughputs approaching 1 MIPS per MHz, balancing power consumption and processing speed.